A trigger force feedback device

Abstract

This invention belongs to the technical field of trigger devices, specifically relating to a trigger force feedback device, comprising: a trigger body including a bracket, a trigger, and a first elastic element, the trigger being rotatably mounted on the bracket; the first elastic element being connected to the bracket and the trigger respectively; a feedback motor including a stator and a mover driver; the stator and / or the mover being magnetic elements, and the stator attracting the mover; the driver being connected to both the stator and the mover, adapted to drive the mover to move relative to the stator; the stator being fixed to the bracket; the mover being disposed between the stator and the trigger, and in separable contact with the trigger. The above structure provides a rich force feedback experience through the combination of the feedback motor and the first elastic element.

Description

Technical Field

[0001] This invention belongs to the field of trigger device technology, specifically relating to a trigger force feedback device. Background Technology

[0002] With the increasing prevalence of games and VR products, trigger interactions are becoming more frequent, leading to new demands on haptic feedback design for the fingers. In practical applications, in scenarios without force feedback, a smaller trigger force results in a better experience, reducing finger fatigue. However, in scenarios requiring force feedback, the trigger needs to provide a greater and richer force experience to the hand. Current trigger technology has limited feedback force, failing to meet these requirements.

[0003] Therefore, in view of the above shortcomings, the present invention urgently needs to provide a trigger force feedback device and control equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a trigger force feedback device and control equipment to solve the problem that the feedback force of the trigger in the prior art is limited and cannot meet the needs of the application scenarios.

[0005] The present invention provides a trigger force feedback device, comprising: a trigger body including a bracket, a trigger, and a first elastic element, wherein the trigger is rotatably mounted on the bracket; the first elastic element is connected to the bracket and the trigger respectively; a feedback motor including a stator and a mover driver; the stator and / or the mover is a magnetic element adapted to attract the stator and the mover; the driver is connected to the stator and the mover respectively, adapted to drive the mover to move relative to the stator; the stator is fixed on the bracket; the mover is disposed between the stator and the trigger and is detachably abutting against the trigger.

[0006] The trigger force feedback device described above is further preferably provided with a balancing magnet on the mover or stator, the balancing magnet being adapted to attract the stator and the stator together.

[0007] The trigger force feedback device described above is further preferably wherein the driver includes a permanent magnet and a coil fitted outside the permanent magnet, and either the permanent magnet or the coil is connected to the mover, while the other is connected to the stator.

[0008] The trigger force feedback device described above is further preferably further wherein the feedback motor includes a second elastic element, which is installed between the stator and the mover.

[0009] In the trigger force feedback device described above, the second elastic element is further preferably a spring; the feedback motor also includes a column, which is fixed to the stator and adapted to accommodate the spring.

[0010] The trigger force feedback device described above is further preferably further comprising a guide rod, which is mounted on the bracket and has one end connected to the mover and the other end detachably abutting against the trigger.

[0011] The trigger force feedback device described above is further preferably provided with a first mounting plate and a second mounting plate that are parallel to each other on the bracket. The stator is mounted on the first mounting plate, and the guide rod is fitted on the second mounting plate.

[0012] The trigger force feedback device described above is further preferably provided in that the trigger body also includes a protrusion disposed on the trigger and adapted to abut against the mover.

[0013] The trigger force feedback device described above is further preferably further comprising a limiting part, which is disposed on the bracket and corresponds to the trigger, and is adapted to limit the rotation position of the trigger.

[0014] The trigger force feedback device described above is further preferably provided with a fixed ear on the bracket and a hinge ear on the trigger, the hinge ear being mounted on the fixed ear via a hinge shaft.

[0015] The trigger force feedback device described above is further preferably wherein the first elastic element is a torsion spring, the torsion spring is fitted onto the hinge shaft, and one torsion arm of the torsion spring is connected to the bracket, and the other torsion arm is connected to the trigger.

[0016] In the trigger force feedback device described above, it is further preferred that the balancing magnet is disposed on the stator, the permanent magnet is disposed on the mover, and the balancing magnet and the permanent magnet attract each other.

[0017] In the trigger force feedback device described above, it is further preferred that the balancing magnet is disposed on the stator, the mover is made of magnetically conductive material, and the balancing magnet attracts the mover.

[0018] In the trigger force feedback device described above, it is further preferred that the balancing magnet is disposed on the stator, and the moving part is provided with a magnetic block, and the balancing magnet and the magnetic block attract each other.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] The trigger force feedback device disclosed in this invention, through the structural design of the feedback motor, allows for the simultaneous existence of magnetic attraction and driving force between the mover and stator. The magnetic attraction increases as the distance between the mover and stator decreases, while the magnitude of the driving force is adjustable. Through their combined effect, the feedback motor and the trigger can be in a disengaged state or in an engaged feedback state. In the disengaged state, the mover and stator can be self-holding even when power is off. In the engaged state, the feedback force combines with the feedback force of the first elastic element, thereby providing a rich force feedback experience.

[0021] This invention increases the upper limit of the feedback force threshold by setting a second elastic element that can provide support for the mover, thereby enriching the force feedback experience. At the same time, by setting the magnitude of the force between each component, the feedback motor can be kept in a stable working state.

[0022] The motor in this invention includes a motor head and a motor housing that are installed accordingly. Both the motor head and the motor housing can be switched between a mover and a stator, thereby improving the flexibility of the trigger force feedback device and making it more widely applicable. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of one state of the trigger force feedback device in this invention;

[0025] Figure 2 for Figure 1 State diagram of the feedback motor;

[0026] Figure 3 for Figure 1 A schematic diagram of the cross-sectional structure;

[0027] Figure 4 This is a schematic diagram of another state of the trigger force feedback device in this invention;

[0028] Figure 5 for Figure 4 A schematic diagram of the cross-sectional structure;

[0029] Figure 6 This is another schematic diagram of the trigger force feedback device in this invention;

[0030] Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure;

[0031] Figure 8 This is a diagram showing the relationship between the forces and their strokes in this invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Bracket, 2-Flipper, 3-Stator, 4-Motor, 5-Guide rod, 6-Column, 7-Spring, 8-First mounting plate, 9-Second mounting plate, 10-Limiting part, 11-Protrusion, 12-Permanent magnet, 13-Hinge. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0037] like Figure 1-7 As shown, this embodiment provides a trigger force feedback device, which includes a trigger body and a feedback motor, and provides a rich force feedback experience through different modes of the feedback motor.

[0038] The trigger body includes a bracket 1, a trigger 2, and a first elastic element. The bracket 1 provides mounting space; specifically, one end of the bracket 1 has a pair of fixed ears, which are rotatably connected to the hinge ear 13 on the trigger 2 via a hinge shaft. A torsion spring serving as the first elastic element is also mounted on the hinge shaft; one torsion arm of the torsion spring is connected to the bracket 1, and the other torsion arm is connected to the trigger 2, suitable for providing a feedback force F1 when the trigger is pulled.

[0039] The feedback motor includes a stator 3, a mover 4, a driver, and a second elastic element. Specifically, the stator 3 is fixed to a first mounting plate 8 on a bracket 1; the mover is located between the stator 3 and the trigger 2, and is slidably mounted relative to the stator 3. In part of the sliding range, the mover 4 abuts against the trigger 3, and in another part, the mover disengages from the trigger. The positions of the stator and mover depend on the resultant force acting on the mover. Specifically, in this embodiment, the driver includes a permanent magnet and a coil fitted around the outside of the permanent magnet. Either the permanent magnet or the coil is connected to the mover, and the other is connected to the stator, suitable to create a driving force F2 between the mover and the stator. The stator and / or the mover are magnetic elements, attracting each other, i.e., a magnetic force F3 exists between the mover and the stator. The second elastic element is located between the mover and the stator, suitable to create a supporting force F4 between them. The resultant force of the driving force F2, the magnetic force F3, and the supporting force F4 drives the stator and the mover to move relative to each other.

[0040] For a feedback motor, the relative positions of its mover and stator are determined by the resultant force, and these relative positions directly affect the motor's operating mode. Let A be the position where the mover is in contact with trigger 2 and trigger 2 is in its initial position. Figure 1-3 As shown; with the mover 4 abutting against the trigger 2 and the trigger 2 in the final position, let's call it B. Figure 4-5 As shown; with the moving part 4 and the stator 3 in contact as position C, as... Figure 6-7 As shown. When the mover 4 is between A and B, the feedback motor is in force feedback mode; when the mover 4 is between B and C, the feedback motor is in non-feedback mode.

[0041] At this time, as Figure 8 As shown, the above motor modes can be switched by setting the magnitude and direction of the feedback force F1, driving force F2, magnetic force F3 and support force F4.

[0042] Specifically, a torsion spring is set up such that the magnitude of the feedback force F1 of the torsion spring is as follows: Figure 8 As shown in a.

[0043] The driver is configured with two operating states: a normal state, where the feedback motor is in force feedback mode and the driving force F2 is F2-1; and a switching state, where the feedback motor switches modes and the driving force F2 is F2-2, where F2-2 is a multiple of F2-1. This switching state is used to switch the feedback motor from force feedback mode to no feedback mode, or from no feedback mode to force feedback mode. The direction of the driving force F2 can be freely adjusted in both operating states. The specific relationship between the magnitude of the driving force F2 and the stroke curve is shown below. Figure 8 As shown in b.

[0044] A balancing magnet is used so that the magnitude of the magnetic force F3 varies non-linearly with the distance between the mover 4 and the stator 3, and the magnetic holding force is greater the closer the mover 4 and the stator 3 are. The specific magnetic holding force F3 and its stroke curve are shown in the figure. Figure 8 As shown in c.

[0045] Set the support force F4, and make its magnitude correspond to the stroke curve as follows: Figure 8 As shown in d.

[0046] Set the order of F2, F3, and F4 such that when F3 is between position A and position B, F4-F2-1 > F3 > F4-F2-2, and when F3 is at position C, F4+F2-2 > F3 > F4.

[0047] With the above settings, the trigger force feedback device has the following operating modes:

[0048] Unfeedback mode: The feedback motor is disconnected from trigger 2, and trigger 2 is only subjected to the feedback force F1 of the torsion spring;

[0049] Force feedback mode: When the feedback motor intervenes and the trigger travels to points A and B, since F4-F2-1>F3>F4-F2-2, the motor mover 4 cannot cross position B and returns to point C to hold itself. It can provide force feedback to the trigger between position A and position B. The force feedback threshold range of trigger 2 is from F1+F4-F2-1 to F1+F4+F2-1.

[0050] Mode switching:

[0051] Exit feedback mode: Switch F2 to F2-2 mode and make its direction point towards the stator. At this time, F3 > F4-F2-2, the mover 4 retracts, and at point C, F3 > F4, so that the mover can achieve self-holding after power failure after the feedback motor driver stops running.

[0052] Intervention Feedback Mode: Start the driver and configure F2 to F2-2 mode, with the direction opposite to the magnetic holding force F3. At point C, F3 < F4 + F2-2, the motor mover 4 disengages from the stator 3, and enters the force feedback mode.

[0053] There are various structures that enable the stator and / or mover to be magnetic components and attract each other. Specifically, one of the mover or stator may be equipped with a balancing magnet to make it a magnetic component; in this case, if the other mover or stator is made of a magnetically conductive material, the two will attract each other; if the other mover or stator is equipped with a magnetic block that attracts the opposite pole of the balancing magnet, the two will attract each other; if the balancing magnet and the permanent magnet in the actuator are located on two separate structures with opposite poles facing each other, the two will attract each other. In this embodiment, the balancing magnet is located on the stator, and the structure on the mover opposite to the stator is made of a magnetically conductive material to make the two attract each other.

[0054] To facilitate force transmission between the feedback motor and the trigger 2, this embodiment also includes a guide rod 5. The guide rod 5 is mounted on the bracket 1, specifically on the second mounting plate 9, which is parallel to the first mounting plate 8. One end of the guide rod 5 is fixedly connected to the mover 4 of the feedback motor, and the other end is detachably abutted against the trigger 2. Furthermore, to facilitate force transmission, the end of the guide rod 5 that abuts against the trigger 2 is spherical.

[0055] Furthermore, the trigger body in this embodiment also includes a protrusion, which is disposed on the trigger 2 and abuts against the mover. Specifically, one side of the protrusion 11 is connected to the trigger, and the other side is arc-shaped and abuts against the spherical surface of the guide rod, so that the protrusion is tangent to the guide rod, thereby reducing the impact of the feedback motor on the trigger 2 and improving the operating comfort of the trigger 2.

[0056] In order to limit the rotation range of the trigger 2, the bracket 1 in this embodiment is also provided with a limiting part 10. Specifically, the limiting part 10 is I-shaped and is inclinedly inserted into the inclined plates on both sides of the bracket 1, which is suitable for matching the side edge of the trigger 2 when it rotates to that position to block the limiting part 2.

[0057] Of course, in addition to the aforementioned rotational structure, the limiting part 2 in this embodiment can also be a translational structure. In this case, by setting a feedback motor, the mover 4 and stator 3 are made into a telescopic rotational structure, that is, the mover 4 can rotate and move relative to the stator 3. Specifically, the relative movement of the mover 4 and stator 3 controls whether the mover 4 contacts the trigger 2, thereby realizing the switching between the force feedback mode and the no-feedback mode of the feedback motor; the relative rotation in the force feedback mode provides force feedback to the trigger 2. There are many structures that can realize the above-mentioned relative rotation function, such as friction drive structure, motor drive structure, etc. There are also many structures that can realize relative movement, such as lead screw drive structure, such as the composite structure of support spring and magnet in this embodiment. The choice can be made according to the needs of the application, and will not be elaborated in this embodiment.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A trigger force feedback device, characterized in that, include: The trigger body includes a bracket, a trigger, and a first elastic element, wherein the trigger is rotatably mounted on the bracket; the first elastic element is connected to the bracket and the trigger respectively. A feedback motor includes a stator and a mover driver; the stator and / or the mover are magnetic components, and the stator and the mover attract each other; the driver is connected to the stator and the mover respectively, and is adapted to drive the mover to move relative to the stator; the stator is fixed on the bracket; the mover is disposed between the stator and the trigger, and is in separable contact with the trigger; The driver includes a permanent magnet and a coil fitted around the outside of the permanent magnet, wherein either the permanent magnet or the coil is connected to the mover, and the other is connected to the stator.

2. The trigger force feedback device according to claim 1, characterized in that, The mover or stator is provided with a balancing magnet, which is adapted to attract the stator and the stator together.

3. The trigger force feedback device according to claim 1, characterized in that, The feedback motor further includes a second elastic element, which is installed between the stator and the mover.

4. The trigger force feedback device according to claim 3, characterized in that, The second elastic element is a spring; the feedback motor also includes a column, which is fixed to the stator and is adapted to accommodate the spring.

5. The trigger force feedback device according to claim 1, characterized in that, The trigger body also includes a guide rod, which is mounted on the bracket, with one end connected to the mover and the other end detachably abutting against the trigger.

6. The trigger force feedback device according to claim 5, characterized in that, The bracket is provided with a first mounting plate and a second mounting plate that are parallel to each other. The stator is mounted on the first mounting plate, and the guide rod is fitted on the second mounting plate.

7. The trigger force feedback device according to claim 1, characterized in that, The trigger body also includes a protrusion, which is disposed on the trigger and adapted to abut against the mover.

8. The trigger force feedback device according to claim 1, characterized in that, It also includes a limiting part, which is disposed on the bracket and corresponds to the trigger, and is adapted to limit the rotation position of the trigger.

9. The trigger force feedback device according to claim 1, characterized in that, The bracket is provided with a fixed ear, and the trigger is provided with a hinge ear. The hinge ear is mounted on the fixed ear via a hinge shaft.

10. The trigger force feedback device according to claim 9, characterized in that, The first elastic element is a torsion spring, which is fitted onto the hinge shaft. One torsion arm of the torsion spring is connected to the bracket, and the other torsion arm is connected to the trigger.

11. The trigger force feedback device according to claim 1, characterized in that, A balancing magnet is disposed on the stator, and a permanent magnet is disposed on the mover. The balancing magnet and the permanent magnet attract each other.

12. The trigger force feedback device according to claim 2, characterized in that, The balancing magnet is disposed on the stator, the mover is made of magnetically conductive material, and the balancing magnet attracts the mover.

13. The trigger force feedback device according to claim 2, characterized in that, The balancing magnet is disposed on the stator, and the moving part is provided with a magnetic block. The balancing magnet and the magnetic block attract each other.

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